mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
makefile cleanup
Moved nuttx specific make rules to files in makefiles/nuttx. All target specific makefiles are in their target sub directories. To minimize file duplication, targets that share rules include a common file. For example the posix and posix-arm targets both use makefiles/posix/posix_elf.mk Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
121
makefiles/nuttx/firmware_nuttx.mk
Normal file
121
makefiles/nuttx/firmware_nuttx.mk
Normal file
@@ -0,0 +1,121 @@
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#
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# Built products
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#
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DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
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STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
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all: $(DESIRED_FIRMWARES)
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#
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# Copy FIRMWARES into the image directory.
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#
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# XXX copying the .bin files is a hack to work around the PX4IO uploader
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# not supporting .px4 files, and it should be deprecated onced that
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# is taken care of.
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#
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$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
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@$(ECHO) %% Copying $@
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$(Q) $(COPY) $< $@
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$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
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$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: checkgitversion generateuorbtopicheaders checksubmodules
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@$(ECHO) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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#
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# Make FMU firmwares depend on the corresponding IO firmware.
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#
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# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
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# and forces the _default config in all cases. There has to be a better way to do this...
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#
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FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
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define FMU_DEP
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$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
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endef
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FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
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$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
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#
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# Build the NuttX export archives.
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#
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# Note that there are no explicit dependencies extended from these
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# archives. If NuttX is updated, the user is expected to rebuild the
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# archives/build area manually. Likewise, when the 'archives' target is
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# invoked, all archives are always rebuilt.
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#
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# XXX Should support fetching/unpacking from a separate directory to permit
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# downloads of the prebuilt archives as well...
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#
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NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
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.PHONY: archives
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archives: checksubmodules $(NUTTX_ARCHIVES)
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# We cannot build these parallel; note that we also force -j1 for the
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# sub-make invocations.
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ifneq ($(filter archives,$(MAKECMDGOALS)),)
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.NOTPARALLEL:
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endif
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J?=1
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$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
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$(ARCHIVE_DIR)%.export: configuration = nsh
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$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) $(MKDIR) -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
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$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC): checkgitversion checksubmodules
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$(UAVCAN_DIR):
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$(Q) (./Tools/check_submodules.sh)
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85
makefiles/nuttx/nuttx.mk
Normal file
85
makefiles/nuttx/nuttx.mk
Normal file
@@ -0,0 +1,85 @@
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Rules and definitions related to handling the NuttX export archives when
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# building firmware.
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#
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MODULES += platforms/nuttx/px4_layer platforms/common
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#
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# Check that the NuttX archive for the selected board is available.
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#
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NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
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ifeq ($(NUTTX_ARCHIVE),)
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$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
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endif
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#
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# The NuttX config header should always be present in the NuttX archive, and
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# if it changes, everything should be rebuilt. So, use it as the trigger to
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# unpack the NuttX archive.
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#
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NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/
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NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
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$(info % NUTTX_EXPORT_DIR = $(NUTTX_EXPORT_DIR))
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$(info % NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
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GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER)
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#
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# Use the linker script from the NuttX export
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#
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LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script
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#
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# Add directories from the NuttX export to the relevant search paths
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#
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INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \
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$(NUTTX_EXPORT_DIR)include/cxx \
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$(NUTTX_EXPORT_DIR)arch/chip \
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$(NUTTX_EXPORT_DIR)arch/common
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LIB_DIRS += $(NUTTX_EXPORT_DIR)libs
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LIBS += -lapps -lnuttx
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NUTTX_LIBS = $(NUTTX_EXPORT_DIR)libs/libapps.a \
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$(NUTTX_EXPORT_DIR)libs/libnuttx.a
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LINK_DEPS += $(NUTTX_LIBS)
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$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
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@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
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$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
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$(Q) $(TOUCH) $@
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$(LDSCRIPT): $(NUTTX_CONFIG_HEADER)
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$(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER)
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86
makefiles/nuttx/nuttx_px4.mk
Normal file
86
makefiles/nuttx/nuttx_px4.mk
Normal file
@@ -0,0 +1,86 @@
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
|
||||
#
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||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
|
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#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# What we're going to build.
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#
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PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
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PRODUCT_BIN = $(WORK_DIR)firmware.bin
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PRODUCT_ELF = $(WORK_DIR)firmware.elf
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PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
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.PHONY: firmware
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firmware: $(PRODUCT_BUNDLE)
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#
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# Built product rules
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#
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$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
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@$(ECHO) %% Generating $@
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ifdef GEN_PARAM_XML
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$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--parameter_xml $(PRODUCT_PARAMXML) \
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--image $< > $@
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else
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$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
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--git_identity $(PX4_BASE) \
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--image $< > $@
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endif
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||||
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||||
$(PRODUCT_BIN): $(PRODUCT_ELF)
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$(call SYM_TO_BIN,$<,$@)
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|
||||
$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
.PHONY: upload
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upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
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||||
$(Q) $(MAKE) -f $(PX4_MK_DIR)/nuttx/upload.mk \
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||||
METHOD=serial \
|
||||
CONFIG=$(CONFIG) \
|
||||
BOARD=$(BOARD) \
|
||||
BUNDLE=$(PRODUCT_BUNDLE) \
|
||||
BIN=$(PRODUCT_BIN)
|
||||
|
||||
.PHONY: clean
|
||||
clean: $(MODULE_CLEANS)
|
||||
@$(ECHO) %% cleaning
|
||||
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
|
||||
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
|
||||
$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
|
||||
|
||||
156
makefiles/nuttx/nuttx_romfs.mk
Normal file
156
makefiles/nuttx/nuttx_romfs.mk
Normal file
@@ -0,0 +1,156 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# ROMFS generation
|
||||
################################################################################
|
||||
|
||||
ifneq ($(ROMFS_ROOT),)
|
||||
ifeq ($(wildcard $(ROMFS_ROOT)),)
|
||||
$(error ROMFS_ROOT specifies a directory that does not exist)
|
||||
endif
|
||||
|
||||
#
|
||||
# Note that there is no support for more than one root directory or constructing
|
||||
# a root from several templates. That would be a nice feature.
|
||||
#
|
||||
|
||||
# Add dependencies on anything in the ROMFS root directory
|
||||
ROMFS_FILES += $(wildcard \
|
||||
$(ROMFS_ROOT)/* \
|
||||
$(ROMFS_ROOT)/*/* \
|
||||
$(ROMFS_ROOT)/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/*/*/*)
|
||||
ifeq ($(ROMFS_FILES),)
|
||||
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
|
||||
endif
|
||||
ROMFS_DEPS += $(ROMFS_FILES)
|
||||
|
||||
# Extra files that may be copied into the ROMFS /extras directory
|
||||
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
|
||||
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
|
||||
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
|
||||
|
||||
ROMFS_IMG = romfs.img
|
||||
ROMFS_SCRATCH = romfs_scratch
|
||||
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
|
||||
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
|
||||
LIBS += $(ROMFS_OBJ)
|
||||
LINK_DEPS += $(ROMFS_OBJ)
|
||||
|
||||
# Remove all comments from startup and mixer files
|
||||
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
|
||||
|
||||
# Turn the ROMFS image into an object file
|
||||
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
|
||||
$(call BIN_TO_OBJ,$<,$@,romfs_img)
|
||||
|
||||
# Generate the ROMFS image from the root
|
||||
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
@$(ECHO) "ROMFS: $@"
|
||||
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
|
||||
|
||||
# Construct the ROMFS scratch root from the canonical root
|
||||
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
|
||||
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
|
||||
# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
|
||||
$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
|
||||
ifneq ($(ROMFS_EXTRA_FILES),)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
|
||||
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
|
||||
endif
|
||||
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
|
||||
|
||||
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
|
||||
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Builtin command list generation
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# Builtin commands can be generated by the configuration, in which case they
|
||||
# must refer to commands that already exist, or indirectly generated by modules
|
||||
# when they are built.
|
||||
#
|
||||
# The configuration supplies builtin command information in the BUILTIN_COMMANDS
|
||||
# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
|
||||
# filename contains the same information.
|
||||
#
|
||||
# In each case, the command information consists of four fields separated with a
|
||||
# period. These fields are the command's name, its thread priority, its stack size
|
||||
# and the name of the function to call when starting the thread.
|
||||
#
|
||||
BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
|
||||
|
||||
# command definitions from modules (may be empty at Makefile parsing time...)
|
||||
MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
|
||||
|
||||
# We must have at least one pre-defined builtin command in order to generate
|
||||
# any of this.
|
||||
#
|
||||
ifneq ($(BUILTIN_COMMANDS),)
|
||||
|
||||
# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
|
||||
define BUILTIN_PROTO
|
||||
$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
|
||||
endef
|
||||
|
||||
# (BUILTIN_DEF,<cmdspec>,<outputfile>)
|
||||
define BUILTIN_DEF
|
||||
$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
|
||||
endef
|
||||
|
||||
# Don't generate until modules have updated their command files
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
|
||||
@$(ECHO) "CMDS: $@"
|
||||
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
|
||||
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
|
||||
$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
|
||||
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
|
||||
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@
|
||||
$(Q) $(ECHO) '};' >> $@
|
||||
$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
|
||||
|
||||
SRCS += $(BUILTIN_CSRC)
|
||||
|
||||
EXTRA_CLEANS += $(BUILTIN_CSRC)
|
||||
|
||||
endif
|
||||
|
||||
50
makefiles/nuttx/upload.mk
Normal file
50
makefiles/nuttx/upload.mk
Normal file
@@ -0,0 +1,50 @@
|
||||
#
|
||||
# Rules and tools for uploading firmware to various PX4 boards.
|
||||
#
|
||||
|
||||
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
|
||||
SYSTYPE := $(shell uname -s)
|
||||
|
||||
#
|
||||
# Serial port defaults.
|
||||
#
|
||||
# XXX The uploader should be smarter than this.
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
SERIAL_PORTS ?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
|
||||
endif
|
||||
ifeq ($(SYSTYPE),Linux)
|
||||
SERIAL_PORTS ?= "/dev/serial/by-id/usb-3D_Robotics*"
|
||||
endif
|
||||
ifeq ($(SERIAL_PORTS),)
|
||||
SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
|
||||
endif
|
||||
|
||||
.PHONY: all upload-$(METHOD)-$(BOARD)
|
||||
all: upload-$(METHOD)-$(BOARD)
|
||||
|
||||
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-aerocore:
|
||||
openocd -f $(PX4_BASE)/makefiles/nuttx/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
|
||||
|
||||
upload-serial-px4-stm32f4discovery: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
#
|
||||
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
|
||||
|
||||
upload-jtag-px4fmu: all
|
||||
@$(ECHO) Attempting to flash PX4FMU board via JTAG
|
||||
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||
|
||||
upload-jtag-px4io: all
|
||||
@$(ECHO) Attempting to flash PX4IO board via JTAG
|
||||
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
||||
Reference in New Issue
Block a user